Jamming and Wedging in Constrained Rigid-Body Dynamics. - Pierre E. Dupont; Serge P. Yamajako (ICRA, 1994)

Stability of rigid-body dynamics with sliding frictional contacts. - Pierre E. Dupont; Serge P. Yamajako (ICRA, 1996)

Stability of frictional contact in constrained rigid-body dynamics. - Pierre E. Dupont; Serge P. Yamajako (IEEE Trans. Robotics Autom., 1997)